Using model data to generate an enhanced depth map in a computer-assisted surgical system
AssigneeIntuitive Surgical Operations, Inc.
InventorsHeath Feather, Rohitkumar Godhani, Brian D. Hoffman, Brandon D. Itkowitz, Adam T. Schmidt, Siddarth Sen
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Abstract
An exemplary processing system of a computer-assisted surgical system identifies an object in a surgical space, accesses a model of the object, identifies a pose of the object in the surgical space, aligns the model with the pose of the object to define depth data for the model in the surgical space, and generates a depth map in the surgical space for at least a portion of the object based on the depth data for the model. Corresponding systems and methods are also described.
Claims21
1-20. (canceled)
A system comprising:
- a memory storing instructions;
- a processor communicatively coupled to the memory and configured to execute the instructions to:
- identify an object in a surgical space;
- access a computer-assisted design (CAD) model of the object;
- identify a pose of the object in the surgical space;
- align the CAD model with the pose of the object to define depth data for the CAD model in the surgical space;
- and
- generate a depth map in the surgical space for at least a portion of the object based on the depth data for the CAD model.
A method comprising:
- identifying, by a processor, an object in a surgical space;
- accessing, by the processor, a computer-assisted design (CAD) model of the object;
- identifying, by the processor, a pose of the object in the surgical space;
- aligning, by the processor, the CAD model with the pose of the object to define depth data for the CAD model in the surgical space;
- and
- generating a depth map in the surgical space for at least a portion of the object based on the depth data for the CAD model.
The method of claim 1, wherein the identifying of the pose of the object in the surgical space comprises accessing kinematic information representative of a position and an orientation of the object in the surgical space.
A non-transitory computer-readable medium storing instructions that, when executed, direct at least one processor of a computing device to:
- identify an object in a surgical space;
- access a computer-assisted design (CAD) model of the object;
- identify a pose of the object in the surgical space;
- align the CAD model with the pose of the object to define depth data for the CAD model in the surgical space;
- and
- generate a depth map in the surgical space for at least a portion of the object based on the depth data for the CAD model.
Dependencies are inferred from the claim text.